Recent Developments in the Robotic All Terrain Lunar Exploration Rover (RATLER) Program

摘要

The Robotic All-Terrain Lunar Exploration Rover (RATLER) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while climbing over step-like obstacles as large as 1.3 wheel diameters. The RATLER design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design`s capabilities for mobility, the full scale for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, is described, including an outline of the program`s work over the past year, recent accomplishments, and plans for follow-on development work.